The 14-pin TI JTAG connector that is used on BeagleBoard is supported by a large number of JTAG emulation products and has been tested using Lauterbach, Spectrum Digital XDS510USB+ and TI XDS560 emulation pods. Note that it will not work with the Spectrum Digital XDS510USB (non-plus) as it does not support a target with 1.8V JTAG.

TinCanTools Flyswatter

In case you like to order Flyswatter and Adapter Kit international, here an example for Europe (Germany):

Flyswatter: US-$ 49.95

BeagleBoard Adapter Kit: US-$ 18.00

International shipping: US-$ 27.00 (select USPS, it's the cheapest!)

Sum: US-$ 94.95 => EUR 65.28 + EUR 8.76 VAT (Germany) = EUR 74.04

Flyswatter will use OpenOCD (Beagle (OMAP3xx) support under development).

An other possibility researched is to use UrJTag. While it has no arm debugging support is allows easy programming of JTAG.
The svn version (r >1428=) of UrJtag has working support for the FlySwatter.

The basic ICEPick opening sequence has been tried using UrJtag and is described Here. What we learned from that is that we need even more control over how the commands must be executed.

Attention: If you use BeagleBoard Adapter Kit, make sure you plug the JTAG adapter the correct way. There are several possible ways, though. See connection picture how to do it the right way (in contrast to the picture EMU0 & EMU1 jumpers at JTAG adapter should be both at 1-2 position (touching J2)).

BDI 2000

Example

The BDI2000 appears to work with the omap35xx.cfg and regOMAP3500.def files that come with the BDI hardware. I had to modify the 10-pin cable so that the BeagleBoard JTAG header matched the BDI target A connector:

BDI config

This configuration assumes the "default" EMU 0 and 1 configuration (both not connected/high state). In this EM setup at first only one TAP is exported. A set of commands must be run on the first tap (embedded ICE)
to enable access to the core: